A device and method for measuring windage motion posture of insulator string of transmission line

Abstract

The present invention relates to a device and method for measuring the windage motion posture of an insulator string of a power transmission line. The measuring device comprises: a video online monitoring device and an image processing and recognition unit; the video online monitoring device is arranged at the bottom of a pole tower, the camera direction of the video online monitoring device is obliquely upward, and the video image of the insulator string when it is running online is collected and sent to the image processing and recognition unit; the image processing and recognition unit calculates the displacement of the insulator string in space and the corresponding time information based on high-speed visual dynamic measurement. The video image of the insulator string when it is running online is collected by a visible light camera, and the non-contact visible light image processing technology is used to automatically monitor the swing of the insulator string. After image processing algorithm analysis and processing, the frequency, direction and amplitude of the insulator string swing, as well as the stress condition are calculated and judged, and hidden dangers are warned in advance, the level of line online monitoring is improved, and the safe and stable operation of the power grid is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of power transmission line safety technology, and in particular to a device and method for measuring the windage motion posture of an insulator string of a power transmission line. Background Art

[0002] Strong winds cause wind deflection and vibration to insulator strings, especially those with large tonnage, which will cause strong stress changes to the tower itself. Insulator strings are important components of line transmission, playing the role of suspending, supporting conductors and insulation. There are large differences in the structure, manufacturing level, operating conditions, and number of insulator strings used in domestic transmission lines of different voltage levels of 10 to 750kV. In recent years, the number of flashover and damage accidents of insulator strings has also increased. These accidents are mainly manifested in flashover, mechanical strength reduction, string drop, breakdown, brittle fracture, deterioration, and external force damage.

[0003] The irregular swing caused by wind deviation has a significant impact on the service life of insulator strings, especially in areas with strong winds and sand. The wind deviation of the insulator strings of transmission lines causes the phase-to-ground insulation gap to be less than the minimum gap distance under the power frequency voltage. Flashover discharge causes local surface electrical erosion or internal burns on the insulator strings, which reduces the insulation and mechanical properties of the insulator strings, and has a significant impact on the safe and stable operation of high-voltage transmission lines and the life of facilities. In windy areas, when the wind speed is greater than a certain level and is relatively stable, the insulator strings of the line will swing violently. When the swing amplitude and frequency accumulate to a certain level and last for a long time, the internal structure of the insulator string will be damaged and break. At the same time, the long-term friction of the hardware connection parts will cause damage or fall off, resulting in the insulator string falling off or the conductor detaching from the insulator string, causing major accidents such as power outages or personal injury, posing a serious threat to the safe operation of the power grid.

[0004] Therefore, correctly identifying the swing amplitude and frequency, analyzing stress changes, and evaluating the life of insulator strings are of great significance to ensuring the safe operation and maintenance of insulator strings. Summary of the invention

[0005] The present invention aims at the technical problems existing in the prior art and provides a device and method for measuring the windage motion posture of an insulator string of a power transmission line, so as to solve the problem that the swing amplitude and frequency of the insulator string cannot be identified in real time in the prior art.

[0006] The technical solution of the present invention to solve the above technical problems is as follows: a transmission line insulator string windage motion posture measurement device, comprising: a video online monitoring device and an image processing and recognition unit; the video online monitoring device is arranged at the bottom of the tower, the camera direction of the video online monitoring device is obliquely upward, and the video image of the insulator string when it is running online is collected and sent to the image processing and recognition unit; the image processing and recognition unit calculates the displacement of the insulator string in space and the corresponding time information based on high-speed visual dynamic measurement.

[0007] A measuring method of the above-mentioned measuring device comprises:

[0008] Step 1, the video online monitoring device collects the video image of the insulator string when it is running online and sends it to the image processing and recognition unit;

[0009] Step 2: The image processing and recognition unit calculates the spatial displacement of the insulator string and the corresponding time information based on high-speed visual dynamic measurement.

[0010] The beneficial effects of the present invention are as follows: by using a visible light camera to collect video images of the insulator string during online operation, non-contact visible light image processing technology is used to automatically monitor the swing of the insulator string, and through image processing algorithm analysis and processing, the frequency, direction and amplitude of the insulator string swing, as well as the stress condition are calculated and judged, and hidden dangers are warned in advance, the level of online line monitoring is improved, and the safe and stable operation of the power grid is guaranteed.

[0011] Based on the above technical solution, the present invention can also be improved as follows.

[0012] Furthermore, the process of measuring and calculating the displacement of the insulator string in space by the image processing and recognition unit includes:

[0013] A reference distance in the video image is set, a spatial distance is calculated by establishing a relationship between a pixel point and the reference distance, and a displacement of the insulator string in space is calculated based on the spatial distance measurement.

[0014] Furthermore, the set reference distance is the string length of the insulator string, and the pixel point is the conductor spacer.

[0015] Furthermore, the measuring device also includes a wireless communication module and a power supply module;

[0016] The power supply module provides electrical energy to the measuring device in the form of solar energy or stored energy;

[0017] After each of the measuring devices measures and calculates the displacement of the insulator string in space and the corresponding time information, the information is sent to an external central processing system through the wireless communication module;

[0018] The central processing system determines the maximum swing amplitude, horizontal and vertical displacements and vibration frequency of the insulator string according to the displacement of the insulator string in space and the corresponding time information, and issues a warning message when the windage movement of the insulator string exceeds a set range.

[0019] The optical lens focuses the visible light on the visible light image sensor CMOS. The visible light channel is driven by CMOS and the data is collected by the processing circuit. The DSP performs image processing and obtains the processed data. Then, the communication interface circuit sends it to the background center processing system.

[0020] Further, the process of calculating the displacement of the insulator string in space in step 2 includes:

[0021] Step 201, measuring the pixel position S of the wire spacer in the video when the distance from the video shooting point to the wire spacer is 10m 0 ;

[0022] Step 202: Calculate the distance between the insulator string and the video monitoring point when the insulator string is perpendicular to the ground. Among them, S 测AD Indicates the pixel position of the conductor spacer in the video when the insulator string is in a state of being perpendicular to the ground;

[0023] Step 203, calculating the distance between the insulator string and the video monitoring point when the insulator string moves to the farthest end state due to wind deviation Among them, S 测AC Indicates the pixel position of the conductor spacer in the video when the insulator string moves to the farthest end due to wind deflection;

[0024] Step 204, calculating the wind deflection angle of the insulator string:

[0025]

[0026] Among them, l BE Indicates the distance from the end point of the cross arm to the highest point of the tower, l AB Indicates the distance from the cross arm end point to the video online monitoring device, l AE Indicates the distance from the highest point of the tower to the video online monitoring device, l BC Indicates the string length of the insulator string.

[0027] Further, the process of determining the pixel position of the wire spacer in the video in steps 201-203 includes:

[0028] The color range represented by RGB of the wire spacer is set, and the wire spacer is identified by the set color range during the image processing and recognition process.

[0029] Furthermore, after step 4, the following steps are further included:

[0030] Step 5: determining the maximum swing amplitude, horizontal and vertical displacements, and vibration frequency of the insulator string according to the displacement of the insulator string in space and the corresponding time information, and issuing a warning message when the windage movement of the insulator string exceeds a set range.

[0031] The beneficial effects of adopting the above further scheme are: easy installation and maintenance, and far away from the strong electric field area; because the device is installed on the tower body, far away from the strong electric field area, it is easy to install and maintain, and the communication of the device is less disturbed by discharge, which is conducive to reducing the power of the communication module. There are various energy-taking methods and high power supply reliability; because the device is installed on the tower body, the space for energy-taking and energy storage installation is large and the installation is firm, which can avoid the limitation of the transmission line conductor operation on the volume and weight of the device, and can also avoid the influence of the conductor vibration on the operation reliability of the device. Obtain multi-dimensional information such as wind deflection and dancing of insulators; by obtaining the displacement and time information of the conductor and insulator in space, the maximum swing amplitude, horizontal and vertical displacement and vibration frequency of the insulator can be obtained, which provides a basis for the analysis of the fault or damage mechanism of the insulator under strong wind or light wind. Reduce the amount of data transmission; because the device processes the video information of the wind deflection swing of the insulator and extracts useful feature information, the image recognition adopts RGB three-dimensional color gradient calculation, which reduces the memory and calculation time consumed by image recognition, avoids the transmission of massive video information, reduces the communication traffic cost on the one hand, and reduces the power consumption of the communication module on the other hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic diagram of the installation of an embodiment of a video online monitoring device provided by the present invention;

[0033] Figure 2 A schematic structural diagram of an embodiment of a device for measuring windage motion posture of an insulator string of a transmission line provided by the present invention;

[0034] Figure 3 A circuit schematic diagram of an embodiment of an image processing and recognition unit provided by the present invention;

[0035] Figure 4 A circuit schematic diagram of an embodiment of a processor of an image processing and recognition unit provided by the present invention;

[0036] Figure 5 A schematic diagram of an embodiment of a transmission line insulator string windage motion posture measurement device provided by the present invention for determining the displacement of an insulator string in space. DETAILED DESCRIPTION

[0037] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0038] The present invention provides a device for measuring the windage motion posture of an insulator string of a transmission line, the device comprising: a video online monitoring device and an image processing and recognition unit. Figure 1 Shown is a schematic diagram of the installation of an embodiment of a video online monitoring device provided by the present invention.

[0039] Depend on Figure 1 It can be seen that the video online monitoring device is arranged at the bottom of the pole tower, and the camera direction of the video online monitoring device is obliquely upward, so that the insulator string is within the camera range when it moves, and the video image of the insulator string when it is running online is collected and sent to the image processing and recognition unit.

[0040] The image processing and recognition unit calculates the displacement of the insulator string in space and the corresponding time information based on high-speed visual dynamic measurement.

[0041] The present invention provides a transmission line insulator string windage motion posture measurement device, which uses a visible light camera to collect video images of the insulator string when it is running online, uses non-contact visible light image processing technology to automatically monitor the swing of the insulator string, and calculates and determines the frequency, direction and amplitude of the insulator string swing, as well as the stress condition through image processing algorithm analysis and processing, so as to provide early warning for hidden dangers, improve the level of line online monitoring, and ensure the safe and stable operation of the power grid. This device can also be promoted and applied to the measurement of the vibration characteristics of ice dancing on transmission line towers and ground wires.

[0042] Example 1

[0043] Embodiment 1 of the present invention provides an embodiment of a device for measuring the windage motion posture of an insulator string of a transmission line. Figure 2 A schematic diagram of the structure of an embodiment of a transmission line insulator string windage motion posture measurement device provided by the present invention, comprising Figure 2 It can be seen that the measuring device includes: a video online monitoring device and an image processing and recognition unit. The video online monitoring device is set at the bottom of the pole tower. The camera direction of the video online monitoring device is obliquely upward. Specifically, the camera direction can be a direction with an angle of 45° with the horizontal line, so that the insulator string is within the camera range when it moves. The video image of the insulator string when it is running online is collected and sent to the image processing and recognition unit.

[0044] The image processing and recognition unit calculates the displacement of the insulator string in space and the corresponding time information based on high-speed visual dynamic measurement.

[0045] The process of measuring and calculating the displacement of the insulator string in space by the image processing and recognition unit includes:

[0046] Set the reference distance in the video image, calculate the distance in space by establishing the relationship between the pixel point and the reference distance, and calculate the displacement of the insulator string in space based on the distance measurement in space. The reference distance of this setting is the length of the insulator string, and the pixel point is the conductor spacer.

[0047] Digital image processing technology can achieve high-precision calibration and error correction of the shooting system. In actual measurement, it is often only necessary to measure the deformation in one or two directions. The optical system adopts the block-type standard parts calibration method: that is, the precise size of the standard parts is matched with the pixel coordinates of the standard parts CCD image, and the calibration matrix parameters are calculated.

[0048] Preferably, the measuring device further includes a wireless communication module and a power supply module.

[0049] The power supply module provides electrical energy to the measuring device in the form of solar energy or stored energy.

[0050] After each measuring device measures and calculates the displacement of the insulator string in space and the corresponding time information, it sends it to the external central processing system through the wireless communication module.

[0051] The central processing system determines the maximum swing amplitude, horizontal and vertical displacement and vibration frequency of the insulator string according to the displacement of the insulator string in space and the corresponding time information, and issues a warning message when the windage movement of the insulator string exceeds the set range.

[0052] The optical lens focuses the visible light on the visible light image sensor CMOS. The visible light channel is driven by CMOS and the data is collected by the processing circuit. The DSP performs image processing and obtains the processed data. Then, the communication interface circuit sends it to the background center processing system.

[0053] like Figure 3 This is a circuit schematic diagram of an embodiment of an image processing and recognition unit provided by the present invention. According to the system's requirements for signal processing, the circuit needs to realize the driving and signal preprocessing of the visible light image sensor, and the real-time processing of image data. A large-scale field programmable logic array FPGA is adopted, and SRAM cache is adopted on the periphery. The large-scale field programmable logic array, its internal logic unit, number of IO ports, and RAM capacity all meet the requirements, and two external SRAMs are used for image temporary storage.

[0054] Figure 4The circuit schematic diagram of an embodiment of a processor of an image processing and recognition unit provided by the present invention, wherein the FPGA is internally driven by RAW / RGB888, clock and reset module, SDRAM controller, FIFO1, FIFO2, and VGA. The clock and reset module is used to provide different clock signals and reset signals of each module. The input clock is a 50MHz crystal oscillator clock and a CMOS image sensor clock, and the output clock is the working clock of other modules, including a 100MHz clock, a 25MHz clock, an I2C interface clock, etc. The RAW / RGB888 module completes the image format conversion, realizes the conversion of the Bayer array format into the RGB888 format, and processes the image to obtain a total bit width of 24 bits for the three RGB signal components for each pixel. FIFO1 realizes data forwarding between the RAW / RGB888 controller, and FIFO2 realizes data forwarding between the SDRAM controller and the VGA driver module. The VGA driver module is used to output the VGA video image array information display signal. The VGA interface includes 5 signals: video field signal, video line synchronization signal, R signal, G signal, and B signal, and its driving reference clock is 25.175MHz.

[0055] Example 2

[0056] Embodiment 2 provided by the present invention is an embodiment of a method for measuring a transmission line insulator string windage motion posture measuring device provided by the present invention, such as Figure 5 FIG. 1 is a schematic diagram of an embodiment of a transmission line insulator string windage motion posture measurement device provided by the present invention for determining the displacement of an insulator string in space, wherein Figure 5 It can be seen that the measurement method is based on a transmission line insulator string windage motion posture measurement device provided by an embodiment of the present invention.

[0057] Step 1: The video online monitoring device collects video images of the insulator string when it is running online and sends them to the image processing and recognition unit.

[0058] Step 2: The image processing and recognition unit calculates the spatial displacement of the insulator string and the corresponding time information based on high-speed visual dynamic measurement.

[0059] Furthermore, the process of calculating the displacement of the insulator string in space in step 2 includes:

[0060] Step 201, measuring the pixel position S of the wire spacer in the video when the distance from the video shooting point to the wire spacer is 10m 0 .

[0061] Step 202, calculate the distance between the insulator string and the video monitoring point when the insulator string is perpendicular to the ground Among them, S 测ADIndicates the pixel position of the conductor spacer in the video when the insulator string is perpendicular to the ground.

[0062] Step 203, calculating the distance between the insulator string and the video monitoring point when the insulator string moves to the farthest end state due to wind deviation Among them, S 测AC Indicates the pixel position of the conductor spacer in the video when the insulator string moves to the farthest end due to wind deflection.

[0063] Step 204, calculate the wind deflection angle of the insulator string:

[0064]

[0065] Among them, l BE Indicates the distance from the end point of the cross arm to the highest point of the tower, l AB Indicates the distance from the cross arm end point to the video online monitoring device. l AE Indicates the distance from the highest point of the tower to the video online monitoring device, l BC Indicates the length of the insulator string.

[0066] Preferably, the process of determining the pixel position of the wire spacer in the video in steps 201-203 includes:

[0067] The color range represented by RGB (red, green, and blue) of the wire spacer is set, and the wire spacer is identified by the set color range during the image processing and recognition process.

[0068] Preferably, after step 4, the following steps are further included:

[0069] Step 5, determining the maximum swing amplitude, horizontal and vertical displacements, and vibration frequency of the insulator string according to the displacement of the insulator string in space and the corresponding time information, and issuing a warning message when the windage movement of the insulator string exceeds a set range.

[0070] The present invention provides a method for measuring the wind deflection motion posture measurement device of an insulator string of a power transmission line, which is easy to install and maintain and is far away from strong electric field areas. Since the device is installed on the tower body, far away from strong electric field areas, it is easy to install and maintain, and the communication of the device is less disturbed by discharge, which is beneficial to reducing the power of the communication module. The energy extraction methods are diverse and the power supply reliability is high. Since the device is installed on the tower body, the space for energy extraction and energy storage installation is large and the installation is firm, which can avoid the restrictions on the volume and weight of the device caused by the operation of the transmission line conductor, and can also avoid the influence of the vibration of the conductor on the operation reliability of the device. Obtain multi-dimensional information such as wind deflection and dancing of the insulator; by obtaining the displacement and time information of the conductor and the insulator in space, the maximum swing amplitude, horizontal and vertical displacement and vibration frequency of the insulator can be obtained, which provides a basis for the analysis of the failure or damage mechanism of the insulator under strong wind or light wind. Reduce the amount of data transmission; because the device processes the video information of the wind deflection and swing of the insulator and extracts useful feature information, image recognition uses RGB three-dimensional color gradient calculation, which reduces the memory and calculation time consumed by image recognition and avoids the transmission of massive video information. On the one hand, it reduces the communication traffic cost, and on the other hand, it reduces the power consumption of the communication module.

[0071] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for measuring the windage motion posture of an insulator string of a transmission line, characterized in that: The measuring device comprises: a video online monitoring device and an image processing and recognition unit; The video online monitoring device is arranged at the bottom of the pole tower, and the camera of the video online monitoring device is oriented obliquely upward to collect the video image of the insulator string when it is running online and send it to the image processing and recognition unit; The image processing and recognition unit calculates the displacement of the insulator string in space and the corresponding time information based on high-speed visual dynamic measurement; The method comprises: Step 1, the video online monitoring device collects the video image of the insulator string when it is running online and sends it to the image processing and recognition unit; Step 2, the image processing and recognition unit calculates the displacement of the insulator string in space and the corresponding time information based on high-speed visual dynamic measurement; The process of calculating the displacement of the insulator string in space in step 2 includes: Step 201, measuring the pixel position of the wire spacer in the video when the distance from the video shooting point to the wire spacer is 10m ; Step 202, calculating the distance between the insulator string and the video monitoring point when the insulator string is perpendicular to the ground ,in, Indicates the pixel position of the conductor spacer in the video when the insulator string is in a state of being perpendicular to the ground; Step 203, calculating the distance between the insulator string and the video monitoring point when the insulator string moves to the farthest end state due to wind deviation ,in, Indicates the pixel position of the conductor spacer in the video when the insulator string moves to the farthest end due to wind deflection; Step 204, calculating the wind deflection angle of the insulator string: ； in, Indicates the distance from the end point of the cross arm to the highest point of the tower. Indicates the distance from the cross arm end point to the video online monitoring device, , Indicates the distance from the highest point of the tower to the video online monitoring device, represents the string length of the insulator string; The step 2 further includes: Step 3: determine the maximum swing amplitude, horizontal and vertical displacements, and vibration frequency of the insulator string according to the displacement of the insulator string in space and the corresponding time information, and issue a warning message when the windage movement of the insulator string exceeds a set range.

2. The measuring method according to claim 1, characterized in that: The measuring device also includes a wireless communication module and a power supply module; The power supply module provides electrical energy to the measuring device in the form of solar energy or stored energy; After each of the measuring devices measures and calculates the displacement of the insulator string in space and the corresponding time information, the information is sent to an external central processing system through the wireless communication module; The central processing system determines the maximum swing amplitude, horizontal and vertical displacements, and vibration frequency of the insulator string according to the displacement of the insulator string in space and the corresponding time information, and issues a warning message when the windage movement of the insulator string exceeds a set range; The optical lens focuses visible light on the visible light image sensor CMOS. After the visible light channel is driven and data is collected by the CMOS, it passes through the processing circuit and the DSP performs image processing to obtain the processed data; then it is sent to the background central processing system by the communication interface circuit.

3. The measuring method according to claim 1, characterized in that: The process of determining the pixel position of the wire spacer in the video in steps 201 to 203 includes: The color range represented by RGB of the wire spacer is set, and the wire spacer is identified by the set color range during the image processing and recognition process.

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